Mars200/Mars/JetEfem/LPs/LoadPortUnclampRoutine.cs

using System;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;

namespace JetEfemLib.LPs
{
    class LoadPortUnclampRoutine : ModuleRoutineBase, IStepRoutine
    {
        enum RoutineStep
        {
            Unclamp,
            QueryStatus,
            End,
        }

        private int _timeout = 0;

        private LoadPortModule _lpModule;
        public LoadPortUnclampRoutine(LoadPortModule lpModule) : base(lpModule.Module)
        {
            _lpModule = lpModule;

            Name = "Unclamp";
        }


        public bool Initalize()
        {
               return true;
        }
 
        public RState Start(params object[] objs)
        {
            Reset();

            _timeout = SC.GetValue<int>("EFEM.LoadPort.MotionTimeout");

            return Runner.Start(_lpModule.Module, Name);
        }


        public RState Monitor()
        {
            Runner.Run(RoutineStep.Unclamp,   Unclamp,     CheckDevice, _timeout * 1000)
                .End(RoutineStep.QueryStatus, QueryStatus, CheckDevice, _timeout * 1000);

            return Runner.Status;
        }

        bool Unclamp()
        {
            string reason;
            Notify($"Start unclamp {_lpModule.LPDevice.Name}");
            if (!_lpModule.LPDevice.Unclamp(out reason))
            {
                Stop(reason);
                return false;
            }
            return true;
        }

        bool CheckDevice()
        {
            return !(_lpModule.LPDevice.IsError || _lpModule.LPDevice.IsBusy);
        }

        bool QueryStatus()
        {
            string reason;
            Notify($"Start query status {_lpModule.LPDevice.Name}");
            if (!_lpModule.LPDevice.QueryState(out reason))
            {
                Stop(reason);
                return false;
            }
            return true;
        }

        public void Abort()
        {
            
        }
 
    }
}